Search Results (2,111)

Anaerobic digesters operating under neotropical conditions face significant technological constraints. High humidity, intense solar radiation, and pronounced diurnal temperature variations increase conductive, convective, and radiative heat losses. These factors reduce internal thermal stability and directly affect methane production rates and overall energy efficiency. As a result, thermal instability becomes a recurrent operational bottleneck in biogas plants without active temperature control. This review examines the thermal and dynamic behavior of anaerobic reactors from a process-engineering perspective. It integrates energy balances, heat-transfer mechanisms, and computational fluid dynamics (CFD) modeling. The combined effects of temperature gradients, hydrodynamic mixing patterns, and structural material properties are analyzed to determine their influence on thermal homogeneity, microbial stability, and methane yield consistency under mesophilic conditions. Technological strategies to mitigate thermal losses are evaluated. These include passive insulation using low-conductivity materials, geometry optimization supported by numerical modeling, and thermal recirculation schemes, as these factors govern temperature distribution and process resilience. Current limitations are also discussed, particularly the frequent decoupling between ADM1-based kinetic models and transient heat-transfer analysis. This separation restricts predictive capability under real-scale diurnal temperature oscillations. The development and validation of coupled hydrodynamic–thermal–biokinetic models under fluctuating neotropical boundary conditions are proposed as critical steps. Such integrated approaches can enhance operational stability, ensure consistent methane production, and improve energy self-sufficiency in organic waste valorization systems. Full article

The use of confuser–diffuser nozzles in power machines enables efficient conversion of gas energy into mechanical work. However, traditional Laval, Venturi, and Vitoszynski nozzles are associated with shock wave formation, causing energy losses, noise, and structural loading. This study proposes innovative jet nozzles with an internal streamlined body that forms annular flow rather than a classical diffusor. A rational computational design methodology based on the Venturi effect criterion and equality of cross-sectional area variation laws was developed. A couple of configurations with spindle-toroidal and ellipsoidal streamlined bodies were generated analytically, studied numerically, and confirmed experimentally. Based on the SST turbulence model, CFD simulations for a compressible flow (air) show that the proposed designs reduce the pressure jump from 60 kPa (traditional nozzle) to 20 kPa for the spindle-toroidal configuration and eliminate it for the ellipsoidal configuration. The Reynolds number in the throat decreases by a factor of 2.6, reducing turbulence. The outlet velocity increases by 3.0% for the spindle-toroidal design, while the ellipsoidal nozzle provides expansion with slightly lower velocity but a smoother velocity profile. Experimental thrust measurements agree with simulations within 2.6–6.7%. The proposed designs enhance energy efficiency, reduce erosion and vibration, and enable adaptive flow control via axial displacement of the streamlined body. Full article

Weight reduction and dynamic performance optimization are critical for airborne direct-drive VICTS satellite communication antennas, which require lightweight, high-speed, and high-precision rotation. Traditional vibration suppression methods, such as uniform support layout and added damping, rely heavily on empirical trial and error, lack targeted modal control, and cannot balance lightweight design with dynamic stiffness. To address these issues, this paper proposes a wave-theory-based dynamic modeling and rapid optimization method for multi-layer rotating components in direct-drive VICTS antennas. The kinematic model of the rotating ring and ball revolution excitation are derived using the annular wave equation and bearing kinematics. A Modal Blocking Mechanism is established: placing support balls at positions satisfying the half-wavelength constraint suppresses target mode shapes via wave interference, achieving vibration attenuation at the source. A homogenization equivalent method based on RVE is developed for irregular cross-section rings, yielding analytical expressions for in-plane equivalent elastic modulus and out-of-plane equivalent shear modulus. These parameters are integrated into the wave equation to analytically solve vibration modes, avoiding iterative finite element computations. A rapid multi-objective optimization framework is then constructed, minimizing the structural weight and maximizing the modal separation interval under dynamic stiffness and excitation frequency constraints. Numerical simulations, FE analysis, and prototype tests validate the method: the maximum analytical error is only 3.1%. Compared with uniform support designs, the optimized structure achieves a 40% weight reduction, a 40% increase in minimum modal separation, and a 65% reduction in the RMS tracking error. This work provides an efficient, deterministic dynamic design method for large-diameter ring structures, transforming vibration control from empirical adjustment into a precise, physics-informed optimization. Full article

Humanoid manipulators with kinematic redundancy offer enhanced dexterity and adaptability to complex environments. Solving their inverse kinematics (IK) is fundamental to trajectory tracking, motion planning, and real-time control. Conventional Jacobian-based iterative methods are widely used, but they are often sensitive to the initial guess, computationally expensive, and less effective in handling strict constraints. Arm-angle-based analytical parameterization reduces redundancy resolution to a single parameter. However, joint limits may lead to multiple disconnected feasible arm-angle intervals. Many existing methods still depend on a numerical search or intelligent optimization to select the arm angle. This lowers computational efficiency and provides less explicit control over branch and configuration selection. To address these issues, this paper extends the arm-angle analytical IK framework. It introduces global configuration parameters to explicitly control the shoulder-elbow-wrist configuration. It also completes the analytical derivation of the rotational relationships of the first three joints in the reference plane. In addition, a feasibility determination and modeling scheme for the arm-angle domain is established, which covers disconnected feasible intervals. The IK problem is then reformulated as a one-dimensional optimization over the feasible domain. An efficient interval-based search is employed to determine the optimal arm angle. Experimental results demonstrate high accuracy and interference-free trajectory tracking. Comparative tests on randomly sampled target poses are also performed. The results show more concentrated error distributions, shorter average computation time, and higher success rates. These results confirm the advantages of the proposed method in accuracy, robustness, and real-time performance. Full article

Vertical axis wind turbines (VAWTs) are promising systems for urban wind energy applications because of their compact layout, omni-directional operation, and favorable integration potential. However, their broader deployment remains limited by poor self-starting capabilities and relatively low aerodynamic efficiency compared to horizontal axis wind turbines. In this study, a passive flow control concept for a straight-bladed VAWT is numerically investigated using a NACA0012 airfoil modified with 45° inclined perforations on the extrados. Four perforated configurations were generated and compared with the baseline profile through a two-stage computational approach. First, steady 2D computational fluid dynamics (CFD) simulations of the isolated airfoils were performed at a free stream velocity of 12 m/s over an angle of attack range of 0–180°. Subsequently, the most relevant aerodynamic trends were assessed at rotor level using transient 2D Moving Mesh simulations for a three-bladed wind turbine with tip speed ratios (TSRs) between 0.5 and 3.5. All perforated variants exhibited higher lift than the baseline airfoil, while the configuration with smaller, denser perforations distributed over the downstream two-thirds of the extrados provided the best overall aerodynamic performance. At TSR = 2.5, this geometry increased the mean moment coefficient from 0.044 to 0.0525 and the power coefficient from 0.109 to 0.131, corresponding to an increase in power output of approximately 20%. These results indicate that inclined extrados perforations constitute a promising passive strategy for improving the aerodynamic performance of small straight-bladed VAWTs, although further 3D and experimental validations are required. Full article

This study presents a combined computational fluid dynamics (CFD) and experimental evaluation of an adjustable direct-injection reciprocating (IDR) metallurgical furnace fueled by a multicomponent residual oil–solvent mixture. An axisymmetric CFD model, incorporating k–ω SST turbulence modeling, Eddy Dissipation Concept (EDC) combustion, and Discrete Ordinates radiation, was validated against infrared thermography and Process Analytical Technology (PAT) measurements obtained under actual operational conditions. The residual mixture operated in a turbulence-controlled regime (Da < 1), reaching maximum internal temperatures of 1199 °C and achieving a thermal efficiency of 84.6% (based on LHV). Numerical predictions agreed with thermographic data to within 5% across the stabilized operational window. Under comparable process parameters, the alternative fuel reduced cycle time and operational costs compared with diesel and natural gas whilst maintaining stable combustion. Methodological clarifications encompass a consolidated, dimensionally consistent set of equations, a QoI-based mesh-independence study, and a concise summary of the experimental configuration to enhance reproducibility. Full article

Risk management is critical to maintain consistency between estimated and actual costs in construction investment projects, especially those that incorporate tourism and heritage components. This study aims to quantify the impact of risk factors on construction investment costs and to estimate an updated maximum project budget at a defined confidence level using an integrated expert-based and probabilistic approach. The approach combines a Frequency–Impact matrix, weighted scaling, and PERT/Monte Carlo simulation, thereby transforming expert judgments into comparable numerical parameters suitable for predictive modeling. The methodology is applied to the rehabilitation of the Esmeralda Hotel project in Cuba, a heritage asset characterized by high cultural value and technical complexity. The results quantify the effects of prioritized risk factors, compute their impact coefficients, and re-estimate the project’s upper budget limit at a 95% confidence level. The findings show that risk drivers associated with higher-complexity construction processes concentrate the main vulnerabilities and explain most of the increase in total cost. In addition, the analysis indicates that contingency margins established by regulation are insufficient to absorb the project’s observed variability. The proposed model supports proactive budget control by anticipating cost deviations, improving resource allocation, and strengthening decision-making under high uncertainty. Its flexible structure enables adaptation to different project types and serves as a practical decision-support tool for investors, designers, and project managers seeking greater financial accuracy and reduced risk of cost overruns. Full article

This paper focuses on the dynamics modeling and control methods for an underactuated Dual-Unmanned Aerial Helicopter Slung Load System (DUH-SLS), which consists of two Unmanned Aerial Helicopters (UAHs) connected to the suspended load via two sling cables. The DUH-SLS is a multi-body coupled system with internal ideal constraint forces and has seven motion degrees of freedom (DOFs) in the longitudinal plane. In this paper, a set of independent and complete generalized coordinates is selected to describe the system’s motion. The dynamics model of DUH-SLS is established using Lagrange analytical mechanics. This approach, which avoids system internal forces, greatly improves modeling efficiency. Finally, the correctness of this dynamics model is validated using a virtual prototype of the DUH-SLS developed in the multi-body dynamics simulation software ADAMS. The DUH-SLS is a complex nonlinear controlled object, and the iterative Linear Quadratic Regulator (iLQR) method is introduced to design an integrated optimal controller to achieve trajectory tracking and swing suppression for the DUH-SLS. This method transforms the quadratic optimal control problem of nonlinear systems into a series of linear quadratic optimal control (LQR) problems through iterative optimization in function space, thus obtaining an optimal solution. The iLQR optimal controller requires offline iterative computation, but the optimal control obtained has a state feedback closed-loop form, which ensures robustness during online control. Numerical simulation results demonstrate that the proposed iLQR optimal controller exhibits excellent control performance in complex multi-task scenarios. Particularly in trajectory tracking tasks, the maximum average position tracking error of the iLQR controller is only 0.14 m, compared to 3.57 m and 3.11 m for the LQR and LMC (Lyapunov Method Controller) controllers, respectively. Furthermore, the controller demonstrates strong robustness against internal parameter perturbations and external complex wind disturbances, fully validating the effectiveness and superiority of the proposed approach. Full article

We present a new Python package that uses the formalism of geometric quantum complexity to numerically compute metric-dependent geometric cost and control functions associated with preparing a given unitary transformation on a quantum computer. The numerical procedure we implement is presented and discussed. Analyzed quantum circuits include: the quantum Fourier transform for up to four qubits, a random circuit with depth 100, and a circuit for analyzing the evolution of a fermionic chain with several lattice sites. Full article

The article presents the development of a large-scale dynamic model of the European power system, including all essential features for wide-area monitoring and control studies. The simulated system includes 3809 nodes, 7343 branches, 618 synchronous machines with 1854 controllers, and 1573 PMUs. The system also integrates inverter-based resources, controlled in either grid-following or grid-forming mode. The model is developed in the phasor-based simulation domain and implemented in MATLAB/Simulink for computation according to a modelling approach that combines vectorized and elementwise operations. The model is publicly available and represents a fundamental tool for investigating transient phenomena and advanced control strategies at a wide-area level. As a demonstration of the possible use of the model, an innovative wide-area damping control is also applied. Numerical experiments are conducted under different configurations, investigating relevant inter-area oscillation phenomena in the European system and assessing the opportunity of the proposed wide-area damping control architectures. The main findings of the case study indicate a definite improvement in the dynamic performance of the system when a wide-area control is applied, leading to a sixfold increase in inter-area oscillation damping, with a reduction of about 80% in the energy involved during the system oscillations. Full article

Continuous impact vibrations caused by uneven road surfaces (such as speed bumps) can significantly reduce the trajectory tracking accuracy of mobile manipulator. This study proposes for the first time an integrated framework combining a semi-active magnetorheological elastomer (MRE) intelligent isolation system with an active trajectory tracking controller to improve the operational accuracy of mobile manipulator under continuous impact excitation, and numerically evaluates the effect of the MRE isolation system. The working principle and design method of the MRE isolation system for mobile manipulators are described, and a multi-layer MRE isolator is fabricated and experimentally characterized. A semi-active control strategy is developed to adaptively adjust the stiffness and damping of the isolator based on continuous impact input. To further compensate for residual disturbances transmitted through the isolator, an enhanced computational torque control (CTC) and proportional-derivative (PD) controller with predefined-time disturbance observer (DOB) is designed for the mobile manipulator. This ensures that the disturbance estimate converges within a predefined time window, thereby improving the robustness of the closed-loop system. By constructing a comprehensive multibody dynamics model coupling the vehicle, the MRE isolator, and the manipulator, vibration transmission is analyzed and trajectory tracking performance is evaluated. Simulation results under continuous road impact excitation demonstrate that the proposed semi-active MRE intelligent isolation system can significantly suppress base vibration and greatly improve the trajectory tracking accuracy of the mobile manipulator end-effector and its joints. This study proves the feasibility of the semi-active MRE isolation system in the trajectory tracking application of mobile manipulator and provides a new approach for the collaborative design of intelligent vibration isolation and control strategies for mobile robot systems operating in harsh and frequently impacted environments. Full article

Speckle patterns generated by coherent illumination of random media are ubiquitous in optical imaging and information processing. However, most existing studies have primarily focused on isotropic or homogeneous speckle fields, while controlled manipulation of speckle patterns with customized geometric morphologies has received comparatively little attention. Here, we propose a random phase-coded array (RPA) as a general framework for generating geometrically reshaped speckle, enabling the formation of nonconventional random light fields whose ensemble-averaged intensity distributions follow prescribed geometric shapes. In this framework, the speckle geometry is determined by the unit-cell structure of the RPA, the unit-cell size governs the overall spatial extent of the speckle pattern, and the illuminating beam size sets the characteristic speckle grain size. These relationships are rigorously validated through theoretical derivations and numerical simulations. As a result, the global statistical envelope of the random light field can be intuitively and flexibly controlled without compromising the fully developed speckle characteristics. Our experimental framework offers a straightforward, scalable, and versatile approach for generating customized random light fields, with potential applications in optical information processing, secure optical communication, computational imaging, and speckle-based metrology. Full article

This study introduces a computational method for designing realistic, geometrically controlled three-dimensional (3-D) micromodels of porous media to investigate fluid flow in hydrocarbon reservoirs. The methodology utilizes a virtual framework of cubes where an arbitrary, continuous 3-D pore network is generated via two-dimensional (2-D) sketches. A key strength of this deterministic, cube-by-cube approach is the ability to independently control porosity and permeability by adjusting channel size and connectivity, facilitating the systematic study of spatial heterogeneity. Six digital models were developed with porosities ranging from 18.4% to 44.4%. Unlike traditional stochastic algorithms, this explicit geometric control enabled the accurate extraction of pore volume distributions and the establishment of a robust power-law relationship between localized porosity and specific surface area. Statistical analysis confirmed a linear correlation between porosity and pore dimensions. While focusing on design and validation, these models are 3-D printable and provide exact boundary conditions for CFD simulations. Single-phase simulations confirmed the capability to decouple absolute permeability from porosity. Consequently, this framework bridges the gap between numerical simulations and physical laboratory experiments to optimize Enhanced Oil Recovery (EOR) processes. Full article

This paper presents explicit algebraic methods for approximating optimal $dq$-axis current references in permanent magnet synchronous motors (PMSMs) under given torque commands. The proposed approach addresses three key optimal control strategies: maximum torque per ampere (MTPA), maximum torque per voltage (MTPV), and loss-minimization control. For MTPA operation, a closed-form explicit formula is derived to approximate the d-axis current that minimizes copper losses. For MTPV operation, an analytical expression is developed to approximate the optimal current vector, effectively addressing iron losses in the high-speed region. Furthermore, a simplified formulation for loss-minimization control is proposed to enhance overall efficiency by balancing both copper and iron losses. These formulas are computationally efficient and eliminate the need for iterative numerical procedures while maintaining high accuracy. Supplementary expressions are also provided to facilitate practical implementation under current and voltage constraints. The mathematical fidelity and computational efficiency of the proposed formulas are rigorously validated through numerical simulations using representative PMSM models. The results demonstrate that the proposed explicit approximations closely match the true numerical optimal trajectories, offering a practical alternative to complex iterative methods without the need for extensive experimental characterization. Full article

This article addresses the challenges of regulation and trajectory tracking in a nonlinear, multivariable drone quadrotor system using a discrete-time Generalized Proportional Integral (GPI) controller, which is the discrete-time version of its continuous-time counterpart. The discrete-time formulation offers several advantages, including simplified trajectory planning by eliminating time derivatives, reduced computational demands, and lower complexity in nominal feed-forward input functions. The proposed GPI controller ensures asymptotic exponential stability for both attitude and position, enabling effective trajectory tracking. Its effectiveness has been validated through numerical simulations, which demonstrate excellent stabilization and tracking performance even in the presence of atmospheric disturbances and measurement noise. Full article